81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SUBSCRIPTIONTRANSPORT_HH_
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#define _SUBSCRIPTIONTRANSPORT_HH_
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#include <boost/function.hpp>
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#include <boost/shared_ptr.hpp>
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#include <string>
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#include "Connection.hh"
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#include "CallbackHelper.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace transport
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{
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/// \addtogroup gazebo_transport
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/// \{
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/// \class SubscriptionTransport SubscriptionTransport.hh
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/// transport/transport.hh
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/// \brief Handles sending data over the wire to
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/// remote subscribers
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class GZ_TRANSPORT_VISIBLE SubscriptionTransport : public CallbackHelper
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{
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/// \brief Constructor
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public: SubscriptionTransport();
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/// \brief Destructor
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public: virtual ~SubscriptionTransport();
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/// \brief Initialize the publication link
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/// \param[in] _conn The connection to use
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/// \param[in] _latching If true, latch the latest message; if false,
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/// don't latch
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public: void Init(ConnectionPtr _conn, bool _latching);
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/// \brief Output a message to a connection
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/// \param[in] _newdata The message to be handled
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/// \return true if the message was handled successfully, false otherwise
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/// \param[in] _cb If non-null, callback to be invoked after
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/// transmission is complete.
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/// \param[in] _id ID associated with the message data.
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public: virtual bool HandleData(const std::string &_newdata,
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boost::function<void(uint32_t)> _cb, uint32_t _id);
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// Documentation inherited
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public: virtual bool HandleMessage(MessagePtr _newMsg);
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/// \brief Get the connection we're using
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/// \return Pointer to the connection we're using
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public: const ConnectionPtr &GetConnection() const;
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/// \brief Is the callback local?
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/// \return true if the callback is local, false if the callback
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/// is tied to a remote connection
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public: virtual bool IsLocal() const;
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private: ConnectionPtr connection;
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};
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/// \}
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}
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}
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#endif
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